Australia is preparing to welcome the Queen and Duke of Edinburgh for an 11-day royal tour that will embrace all elements of the nation.

The monarch's visit is her first to the country in five years and comes before her attendance at a gathering of Commonwealth leaders in Perth. The royal couple will be based for much of their time in the capital, Canberra, but will also travel to Melbourne and Brisbane.

Some commentators have said the 85-year-old's visit could be her last to Australia, but similar views have been expressed about other royal tours ever since she turned 80. Though republicans believe it is only a matter of time before Australia dumps the monarchy for an elected head of state, few protests are expected.

Australian actor Hugh Jackman described the high esteem the sovereign is held in by some when he joined Elle Macpherson and a host of other stars at a Buckingham Palace reception for Australians last week. He said: "Even the republicans, the ones in Australia who want to see Australia move on, still have great respect and love for the Queen. I've never heard anyone say different."

Highlights of the tour include a barbecue, a tram ride through Melbourne and a boat trip up the Brisbane river. The royal itinerary reveals a comprehensive list of events for the Queen and the 90-year-old duke, with an away-day to Brisbane on 24 October and Melbourne two days later. The royal couple will receive an official welcome when they arrive in Australia on Wednesday and the following day will tour Floriade – a national flower show.

Australia's military heritage and its servicemen and women, and veterans, will be recognised by the Queen. Colours will be presented by the monarch to the Royal Military College, Duntroon, which trains the country's officers, on 22 October and three days later a wreath will be laid at the Australian war memorial.

The efforts of the emergency services who dealt with the Brisbane floods earlier this year and the families they helped will also be recognised. The couple will meet firefighters, paramedics, police and local communities at a reception.

During the Melbourne away-day the Queen will open the Royal Children's hospital before taking a short tram ride through the city to a reception hosted by the governor of Victoria, Alex Chernov.

The Commonwealth heads of government meeting – a three-day gathering staged every two years – begins next Friday with the sovereign's opening speech and that evening a traditional banquet will be held.

On the agenda will be proposals aimed at making the Commonwealth more relevant.

The couple will spend their last day in Australia at the Big Aussie BBQ before returning to the UK on 29 October.